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EP1762861A1 - Method and device for determining the geometry and position of a parking place - Google Patents

Method and device for determining the geometry and position of a parking place Download PDF

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Publication number
EP1762861A1
EP1762861A1 EP06120070A EP06120070A EP1762861A1 EP 1762861 A1 EP1762861 A1 EP 1762861A1 EP 06120070 A EP06120070 A EP 06120070A EP 06120070 A EP06120070 A EP 06120070A EP 1762861 A1 EP1762861 A1 EP 1762861A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
ultrasonic sensor
parking space
ultrasonic
sensor device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06120070A
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German (de)
French (fr)
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EP1762861B1 (en
Inventor
Norbert Höver
Thomas Ottenhues
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hella GmbH and Co KGaA
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Hella KGaA Huek and Co
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Publication of EP1762861A1 publication Critical patent/EP1762861A1/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/93Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/93Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the present invention relates to a method for determining the geometry and position of a parking space according to the preamble of claim 1. Furthermore, the present invention relates to an apparatus for carrying out the method.
  • the German Offenlegungsschrift DE 103 39 645 A1 discloses a method and apparatus for determining the size and position of a parking space.
  • the parking space is measured by means of two ultrasonic sensor devices per vehicle longitudinal side, wherein a first ultrasonic sensor device for determining the length and a second ultrasonic sensor device for determining the depth of the parking space is used.
  • a disadvantage of the methods and devices known from the prior art is that at least two ultrasonic sensor devices per vehicle longitudinal side for detecting the length and the depth of the parking space are needed, so that the assembly costs and thus the cost of manufacturing the device can be increased.
  • the signals from at least two ultrasonic sensor devices must always be evaluated so that the methods known from the prior art require a relatively complex evaluation of the measured data.
  • the present invention has for its object to provide a method for determining the geometry and position of a parking space with respect to the position of a vehicle passing by the parking space to specify, which can be carried out with little effort.
  • the present invention seeks to propose a device for carrying out the method, which can be produced inexpensively and which can be relatively easily integrated into the vehicle.
  • the object underlying the present invention is achieved by a method having the features of claim 1.
  • the object underlying the present invention is achieved by a device having the features of claim 6.
  • the subclaims relate to preferred developments of the invention.
  • an ultrasonic sensor device arranged on a longitudinal side of the vehicle repeatedly emits ultrasonic pulses which form a substantially rectangular-shaped sensitive detection area at a distance d from the vehicle in the direction of the parking space and that as a function thereof the length and depth of the parking space can be determined from the ultrasonic pulses reflected back from objects or obstacles. It is possible that the nature of the parking space can be determined using the method presented here.
  • the method presented here can be simpler and more simple be carried out with less effort than the methods known from the prior art, in which always at least two ultrasonic sensor devices per vehicle longitudinal side are required to measure the length and depth of the parking space.
  • ultrasonic pulses are generated which have a different divergence in mutually perpendicular directions in space.
  • the spatial resolution with which the parking space is measured when carrying out the method can be set in a targeted manner.
  • the ultrasonic sensor device emits ultrasonic pulses having a main propagation direction which is oriented substantially perpendicular to the longitudinal direction of the vehicle.
  • the ultrasonic sensor device emits ultrasonic pulses whose detection range at a distance d from the vehicle has a height H which is greater, preferably substantially greater than its length L1.
  • a substantially constant Height can be obtained by a small length of the detection area, a relatively high spatial resolution in the measurement of the parking space.
  • the ultrasonic sensor device used for carrying out the method has, in particular, a so-called astigmatic emission characteristic.
  • the evaluation of the received ultrasonic signals is adapted adaptively by a computing unit of the ultrasonic sensor device. As a result, the evaluation of the measured signals and thus the accuracy with which the parking space can be measured can be improved.
  • the corresponding ultrasonic sensor device can be selectively selected and activated, for example, by actuating a turn signal or another direction indicator of the vehicle, in order to measure the corresponding parking space.
  • the vehicle passes two parking spaces which are located in the direction of travel to the left and right of the vehicle, and that both parking spaces are measured while passing by and that only then is selected in which of the two parking spaces the vehicle is to be parked.
  • the method described here there is also the possibility in the known from the prior art methods or devices for determining the geometry and position of a parking space that one or more ultrasonic sensor devices are activated by operating a direction indicator. This can also take place, for example, with further consideration of vehicle data, such as, for example, the steering angle impact or the vehicle speed.
  • each of the ultrasound sensor devices has at least one arithmetic unit, which is preferably integrated into the respective ultrasound sensor device. It can thereby be achieved that the ultrasonic sensor devices can be actively configured, for example, from the outside. As a result of this measure, the ultrasound sensor devices can also be designed for signal-adaptive target detection and multi-target capability. Furthermore, the arithmetic unit integrated in the ultrasound sensor device also enables self-diagnosis of the ultrasound sensor devices.
  • the arithmetic unit is suitable for the reception of ultrasound pulses, which are reflected back from one or more objects.
  • the device has at least one main computer unit to which the ultrasonic sensor devices are connected.
  • the main computing unit may, for example, be configured to switch the ultrasonic sensor devices to different measurement modes with respect to overlay measurements in which individual measurements may be added, as well as with respect to the measurement times. In this way, an optimized result in the measurement of the parking space can be obtained.
  • the ultrasonic sensor devices for other applications such as for a Distance measurement and a distance warning can be used during parking.
  • FIGS. 1 and 2 a method for determining the geometry and position of a parking space according to a preferred embodiment of the present invention will be explained in more detail below.
  • Cartesian coordinate systems are shown in FIGS. 1 and 2.
  • a vehicle 10 is shown schematically simplified while driving past a parking space 11.
  • the direction of travel of the vehicle 10 in the x direction is indicated by an arrow.
  • the parking space 11, which has a length L in the x-direction and a depth T in the y-direction, is here bounded by two vehicles 12. So that the vehicle 10 can be properly parked in the parking space 11, the parking space 11 for the vehicle 10 must have a sufficient length L and a sufficient depth T. Furthermore, there must be no obstacle within the parking space 11.
  • the position and the geometry of the parking space 11 can be determined with high accuracy during the passage of the vehicle 10 past the parking space 11. This means that during the implementation of the method, the length L, the depth T, the nature, the relative position of the parking space 11 in the x-direction and in the y-direction and the orientation of the parking space 11 relative to the passing vehicle 10 are determined. Furthermore, it can be detected with the aid of the method, whether there are one or more objects within the parking space 11. A good location of objects relative to the position of the vehicle 10 is particularly important to allow accurate measurement of the parking space 11.
  • the vehicle 10 has a corresponding device for determining the geometry and position of a parking space.
  • This device which will be described in greater detail below with further reference to FIG. 3, comprises in this embodiment a first and a second ultrasonic sensor device 13, 14.
  • the two ultrasonic sensor devices 13, 14 are suitable for transmitting and receiving ultrasonic pulses.
  • one of the two ultrasonic sensor devices 13, 14 of the device is mounted in the direction of travel on the left and right on each of the two longitudinal sides of the vehicle 10.
  • the parking space 11 shown in FIG. 1 can be measured.
  • the second ultrasonic sensor device 14 which is arranged in the direction of travel of the vehicle 10 on the left vehicle longitudinal side, not explicitly shown parking spaces can be measured in Fig. 1, which are located in the direction of travel left of the vehicle 10.
  • obstacles that are located in the direction of travel to the left of the vehicle 10 can be detected.
  • the ultrasonic sensor devices 13, 14 are each arranged in a side turn signal on one of the two front fenders of the vehicle 10.
  • the two ultrasonic sensor devices 13, 14 are arranged on a trim strip or in a bumper of the motor vehicle 10.
  • the ultrasonic sensor devices 13, 14 in contrast to the devices known from the prior art on a so-called astigmatic emission.
  • the two ultrasonic sensor devices 13, 14 emit ultrasonic pulses in a radiation region 16 which is designed such that in a plane perpendicular to the main propagation direction 17, which is oriented substantially perpendicular to the longitudinal axis of the vehicle 10, at a distance d from the corresponding ultrasonic sensor device 13, 14 a substantially rectangular shaped sensitive detection area with a length L1 and a height H is obtained.
  • the height H of the sensitive detection area is greater than the length L1.
  • the ratio of the height H of the sensitive detection area to its length L1 may be on the order of about 3: 1.
  • the ultrasonic sensor devices 13, 14 are designed such that the length L of the parking space 11 in the x-direction at Substantially constant height H can be measured by repeated transmission and reception of ultrasonic pulses with a high spatial resolution L1, so that the beginning or the end of the parking space 11 and obstacles and objects within the parking space 11 can be reliably detected.
  • the ultrasonic pulses emitted by the ultrasonic sensor devices 13, 14 have a smaller divergence in the x-direction than in the z-direction.
  • the parking space 11 shown in FIG. 1 is scanned during the passage of the vehicle 10 by means of the first ultrasonic sensor device 13 by individual, relatively fast successive individual measurements. For each individual measurement, an ultrasonic pulse is emitted in the direction of the parking space 11. If the ultrasonic pulse encounters an obstacle, it is at least partially reflected back toward the vehicle 10. The back-reflected part of the ultrasonic pulse is detected by the first ultrasonic sensor device 13. By repeated individual measurements with high spatial resolution in the x-direction, it can be determined whether the length L of the parking space 11 in the x-direction and the depth T of the parking space 11 in the y-direction are sufficient and if the nature of the parking space is such that the vehicle 10 can be easily parked in the measured parking space 11.
  • the relatively low divergence of the ultrasound pulses in the x-direction provides a high spatial resolution and thus a good localization of a detected obstacle, which is located within the parking space 11 available. Due to the relatively large expansion of the ultrasound pulses in height (in the z-direction), objects which project, for example, from above or from below into the field of view of the ultrasound sensor device 13, 14 can also be reliable be detected. Frequent scanning of the parking space 11 also obstacles can be detected, which protrude from the side into the parking space 11. During the passage of the vehicle 10, the position of the parking space 11 as well as its orientation relative to the vehicle 10 can also be measured.
  • the information about the geometry and the position of the parking space 11 collected during the measurement of the parking space 11 can be visually displayed to the driver of the vehicle 10, for example, on a display device in the interior of the vehicle 10. Thereby, a guided parking of the vehicle 10 can be made possible.
  • the parking of the vehicle 10 is carried out semiautonomously using a Einparkos worn not discussed here, so that a guide of the vehicle 10 can be taken in the transverse direction and optionally provided a guide of the vehicle 10 in the longitudinal direction with a speed limit can.
  • the vehicle 10 can be parked fully automatically in the parking space 11 due to the data provided by the device according to the invention by means of Einparkos heard.
  • the integration of the device according to the invention in the vehicle 10 can be simplified.
  • the wiring of the ultrasonic sensor devices 13, 14 can also be designed relatively simple, so that thereby the manufacturing and assembly costs can be reduced.
  • Fig. 3 the structure of a device for determining the geometry and position of a parking space is shown schematically greatly simplified.
  • the device has a main computer unit 20, which is bidirectionally connected to the ultrasonic sensor devices 13, 14, so that communication data and measurement results between the ultrasonic sensor devices 13, 14 and the main computer unit 20 can be exchanged.
  • the main computing unit 20 is bidirectionally connected to the vehicle 10 so that data can be exchanged between the main computing unit 20 and the vehicle 10.
  • FIG. 1 For reasons of simplification, only the connection of one of the two ultrasonic sensor devices 13, 14 to the main computer unit 20 is shown in FIG.
  • the other of the two ultrasonic sensor devices 13, 14 has the same structure and is also connected bidirectionally to the main computer unit 20.
  • the two ultrasonic sensor devices 13, 14 have a membrane 22.
  • a piezoelectric element By means of a piezoelectric element, an ultrasound pulse is generated in a transmit operating mode of the ultrasonic sensor devices 13, 14 via the membrane 22.
  • the membrane 22 is designed such that it can generate ultrasonic pulses with an astigmatic emission region 16, so that, as indicated in FIGS. 1 and 2, at a distance d from the ultrasound sensor device 13, 14 a substantially rectangular detection region is formed Length L1 and height H can be generated.
  • the ultrasonic sensor devices 13, 14 each have their own arithmetic unit 21, which controls the operation of the ultrasound sensor device 13, 14.
  • the arithmetic unit 21 starts the generation of an ultrasonic pulse through the membrane 22.
  • the ultrasonic sensor device 13, 14 is switched by the arithmetic unit 21 into a reception operating mode.
  • the membrane 22 serves as a receiver for ultrasonic pulses, which are reflected back in particular by the vehicles 12 and other obstacles and objects within the parking space 11 in the direction of the respective ultrasonic sensor device 13, 14 of the vehicle 10.
  • the ultrasonic pulse emitted by the membrane 22 during the transmission operating mode is at least partially reflected back toward the corresponding ultrasonic sensor device 13, 14.
  • the reflected at the object 15 portion of the ultrasonic pulse impinges on the membrane 22 and generates there mechanical vibrations.
  • the piezoelectric element is then excited by the membrane 22, which generates a signal which can be evaluated by the computer unit 21 of the ultrasound sensor device 13, 14.
  • a voltage signal is thus generated on the basis of the piezoelectric effect which is amplified, filtered and digitized by the arithmetic unit 21.
  • the measurement signals of the main computing unit 20 are provided via the bidirectional communication interface.
  • the main computing unit 20 evaluates the results of a plurality of individual measurements that are performed for the measurement of the parking space 11, and determines whether the measured parking space 11 is suitable for parking the vehicle 10. Further, depending on the environmental conditions and environmental scenarios detected during the performance of the method (eg, the detection of the beginning and end of the parking space 11), the ultrasonic sensor devices 13, 14 may switch from the main computing unit 20 to different measurement modes with respect to overlay measurements where individual measurements can be added up, as well as switched in relation to the measuring times. In this way, an optimized result in the measurement of the parking space 11 can be obtained.
  • ultrasonic sensor devices 13, 14 used in the present exemplary embodiment, each of which has its own integrated computing unit 21.
  • a signal-adaptive trigger threshold optimally adapted to the measurement signal, so that interference signals of the received ultrasound echo, such as noise, can be reliably separated from useful signals.
  • the received signal can also be used for a self-diagnosis of the ultrasonic sensor devices 13, 14.
  • it can be determined, for example, whether the ultrasonic sensor devices 13, 14 are dirty or defective.
  • Ultrasonic sensor devices 13, 14 with an integrated computing unit 21 also have the advantage that they can be actively configured from the outside. Further are Such ultrasonic sensor devices 13, 14 also multi-target capability.
  • the data measured by the ultrasound sensor devices 13, 14 and further processed by the arithmetic units 21 are sent digitally to the main control unit 20, which combines the individual measurements and diagnostic data into an overall view of the surroundings of the vehicle 10 and thus makes them interpretable.
  • a good localization of the detected objects relative to the position of the vehicle 10 is important for the most accurate possible measurement of the parking space 11.
  • vehicle data such as, for example, the steering angle, the speed or the longitudinal dynamics of the vehicle 10 and the outside temperature are detected and made available to the main computing unit 20 for further processing.
  • the main computing unit 20 can use this vehicle data and the data measured by the ultrasonic sensor device 13, 14 to decide whether the parking space 11 is suitable for the vehicle 10.
  • This data can serve, for example, as the basis for autonomous or semi-autonomous parking by means of a parking aid device and can be provided to the vehicle 10 for further processing via the bidirectional communication interface, as indicated in FIG. 3.
  • the corresponding ultrasonic sensor device 13, 14 be activated, for example, by operating a turn signal or other direction indicator of the vehicle 10.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

Method involves sending of ultrasonic impulses in the direction of the parking space (11) by ultrasonic sensors (13,14) facility arranged at a long side of the vehicle (10). Ultrasonic sensors form a rectangular shaped sensitive detection range in a distance (d) from the vehicle whereby the length and the depth of the parking space is determined as a function of the back-reflected ultrasonic impulses. An independent claim is included for the device for the execution of the method.

Description

STAND DER TECHNIKSTATE OF THE ART

Die vorliegende Erfindung betrifft ein Verfahren zur Ermittlung der Geometrie und Position einer Parklücke nach dem Oberbegriff des Anspruchs 1. Darüber hinaus betrifft die vorliegende Erfindung eine Vorrichtung zur Durchführung des Verfahrens.The present invention relates to a method for determining the geometry and position of a parking space according to the preamble of claim 1. Furthermore, the present invention relates to an apparatus for carrying out the method.

Aus der deutschen Offenlegungsschrift DE 196 16 447 A1 ist ein Verfahren zur Ermittlung der Länge einer Parklücke bekannt. Dieses Verfahren ist allerdings nicht dazu geeignet, auch die Tiefe der Parklücke zu bestimmen.From the German patent application DE 196 16 447 A1 a method for determining the length of a parking space is known. However, this method is not suitable for determining the depth of the parking space.

Die deutsche Offenlegungsschrift DE 103 39 645 A1 offenbart ein Verfahren sowie eine Vorrichtung zur Bestimmung der Größe und Position einer Parklücke. Die Parklücke wird mit Hilfe von zwei Ultraschallsensoreinrichtungen je Fahrzeuglängsseite vermessen, wobei eine erste Ultraschallsensoreinrichtung für die Bestimmung der Länge und eine zweite Ultraschallsensoreinrichtung für die Bestimmung der Tiefe der Parklücke eingesetzt wird.The German Offenlegungsschrift DE 103 39 645 A1 discloses a method and apparatus for determining the size and position of a parking space. The parking space is measured by means of two ultrasonic sensor devices per vehicle longitudinal side, wherein a first ultrasonic sensor device for determining the length and a second ultrasonic sensor device for determining the depth of the parking space is used.

Ein Nachteil der aus dem Stand der Technik bekannten Verfahren und Vorrichtungen besteht darin, dass mindestens zwei Ultraschallsensoreinrichtungen je Fahrzeuglängsseite zur Erfassung der Länge und der Tiefe der Parklücke benötigt werden, so dass der Montageaufwand und damit die Kosten für die Herstellung der Vorrichtung erhöht werden. Bei einer Vermessung einer Parklücke müssen darüber hinaus stets die Signale von mindestens zwei Ultraschallsensoreinrichtungen ausgewertet werden, so dass die aus dem Stand der Technik bekannten Verfahren eine relativ aufwändige Auswertung der Messdaten erfordern.A disadvantage of the methods and devices known from the prior art is that at least two ultrasonic sensor devices per vehicle longitudinal side for detecting the length and the depth of the parking space are needed, so that the assembly costs and thus the cost of manufacturing the device can be increased. In addition, when measuring a parking space, the signals from at least two ultrasonic sensor devices must always be evaluated so that the methods known from the prior art require a relatively complex evaluation of the measured data.

Hier setzt die vorliegende Erfindung an.This is where the present invention begins.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Bestimmung der Geometrie und der Position einer Parklücke in Bezug auf die Position eines Fahrzeugs, das an der Parklücke vorbeifährt, anzugeben, das mit einem geringen Aufwand durchgeführt werden kann. Darüber hinaus liegt der vorliegenden Erfindung die Aufgabe zugrunde, eine Vorrichtung zur Durchführung des Verfahrens vorzuschlagen, die kostengünstig hergestellt werden kann und die relativ einfach in das Fahrzeug integriert werden kann.The present invention has for its object to provide a method for determining the geometry and position of a parking space with respect to the position of a vehicle passing by the parking space to specify, which can be carried out with little effort. In addition, the present invention seeks to propose a device for carrying out the method, which can be produced inexpensively and which can be relatively easily integrated into the vehicle.

VORTEILE DER ERFINDUNGADVANTAGES OF THE INVENTION

Hinsichtlich des Verfahrens wird die der vorliegenden Erfindung zugrunde liegende Aufgabe durch ein Verfahren mit den Merkmalen des Anspruchs 1 gelöst. Hinsichtlich der Vorrichtung wird die der vorliegenden Erfindung zugrunde liegende Aufgabe durch eine Vorrichtung mit den Merkmalen des Anspruchs 6 gelöst. Die Unteransprüche betreffen bevorzugte Weiterbildungen der Erfindung.With regard to the method, the object underlying the present invention is achieved by a method having the features of claim 1. With regard to the device, the object underlying the present invention is achieved by a device having the features of claim 6. The subclaims relate to preferred developments of the invention.

Gemäß Anspruch 1 wird vorgeschlagen, dass eine an einer Längsseite des Fahrzeugs angeordnete Ultraschallsensoreinrichtung wiederholt Ultraschallimpulse, die in einem Abstand d vom Fahrzeug einen im Wesentlichen rechteckig geformten sensitiven Detektionsbereich bilden, in Richtung auf die Parklücke aussendet und dass in Abhängigkeit von den von Objekten oder Hindernissen zurückreflektierten Ultraschallimpulsen die Länge und die Tiefe der Parklücke bestimmt werden. Es besteht die Möglichkeit, dass auch die Beschaffenheit der Parklücke mit Hilfe des hier vorgestellten Verfahrens bestimmt werden kann. Dadurch, dass im Gegensatz zu den aus dem Stand der Technik bekannten Verfahren bei der vorliegenden Erfindung die Geometrie und die Position einer Parklücke in Bezug auf die Position des Fahrzeugs mit Hilfe einer einzigen Ultraschallsensoreinrichtung pro Fahrzeuglängsseite bestimmt werden kann, kann das hier vorgestellte Verfahren einfacher und mit geringerem Aufwand durchgeführt werden als die aus dem Stand der Technik bekannten Verfahren, bei denen stets mindestens zwei Ultraschallsensoreinrichtungen je Fahrzeuglängsseite benötigt werden, um die Länge und die Tiefe der Parklücke zu vermessen. Somit werden Ultraschallimpulse erzeugt, die in zueinander senkrechten Raumrichtungen eine unterschiedliche Divergenz aufweisen. Dadurch kann die räumliche Auflösung, mit der die Parklücke bei der Durchführung des Verfahrens vermessen wird, gezielt eingestellt werden.According to claim 1, it is proposed that an ultrasonic sensor device arranged on a longitudinal side of the vehicle repeatedly emits ultrasonic pulses which form a substantially rectangular-shaped sensitive detection area at a distance d from the vehicle in the direction of the parking space and that as a function thereof the length and depth of the parking space can be determined from the ultrasonic pulses reflected back from objects or obstacles. It is possible that the nature of the parking space can be determined using the method presented here. By virtue of the fact that the geometry and position of a parking space with respect to the position of the vehicle can be determined by means of a single ultrasonic sensor device per vehicle longitudinal side, in contrast to the prior art methods in the present invention, the method presented here can be simpler and more simple be carried out with less effort than the methods known from the prior art, in which always at least two ultrasonic sensor devices per vehicle longitudinal side are required to measure the length and depth of the parking space. Thus, ultrasonic pulses are generated which have a different divergence in mutually perpendicular directions in space. As a result, the spatial resolution with which the parking space is measured when carrying out the method can be set in a targeted manner.

In einer bevorzugten Ausführungsform wird vorgeschlagen, dass die Ultraschallsensoreinrichtung Ultraschallimpulse mit einer Hauptausbreitungsrichtung, die im Wesentlichen senkrecht zur Längsrichtung des Fahrzeugs orientiert ist, aussendet.In a preferred embodiment, it is proposed that the ultrasonic sensor device emits ultrasonic pulses having a main propagation direction which is oriented substantially perpendicular to the longitudinal direction of the vehicle.

Es kann in einer besonders bevorzugten Ausführungsform vorgesehen sein, dass die Ultraschallsensoreinrichtung Ultraschallimpulse aussendet, deren Detektionsbereich im Abstand d vom Fahrzeug eine Höhe H aufweist, die größer, vorzugsweise wesentlich größer, ist als dessen Länge L1. Dadurch kann zum Beispiel bei einer im Wesentlichen konstanten Höhe durch eine geringe Länge des Detektionsbereichs eine relativ hohe Ortsauflösung bei der Vermessung der Parklücke erhalten werden. Die zur Durchführung des Verfahrens eingesetzte Ultraschallsensoreinrichtung weist insbesondere eine so genannte astigmatische Abstrahlcharakteristik auf.It may be provided in a particularly preferred embodiment that the ultrasonic sensor device emits ultrasonic pulses whose detection range at a distance d from the vehicle has a height H which is greater, preferably substantially greater than its length L1. As a result, for example, at a substantially constant Height can be obtained by a small length of the detection area, a relatively high spatial resolution in the measurement of the parking space. The ultrasonic sensor device used for carrying out the method has, in particular, a so-called astigmatic emission characteristic.

In einer besonders bevorzugten Ausführungsform ist vorgesehen, dass die Auswertung der empfangenen Ultraschallsignale von einer Recheneinheit der Ultraschallsensoreinrichtung adaptiv angepasst wird. Dadurch kann die Auswertung der gemessenen Signale und damit die Genauigkeit, mit der die Parklücke vermessen werden kann, verbessert werden.In a particularly preferred embodiment, it is provided that the evaluation of the received ultrasonic signals is adapted adaptively by a computing unit of the ultrasonic sensor device. As a result, the evaluation of the measured signals and thus the accuracy with which the parking space can be measured can be improved.

In einer vorteilhaften Ausführungsform besteht die Möglichkeit, dass durch eine Betätigung einer Fahrtrichtungsanzeigeeinrichtung des Fahrzeugs zwischen einer ersten Ultraschallsensoreinrichtung, die an einer ersten Längsseite des Fahrzeugs angeordnet ist und einer zweiten Ultraschallsensoreinrichtung, die an einer zweiten Längsseite des Fahrzeugs angeordnet ist, umgeschaltet werden kann.
Diese Ausführungsform ist insbesondere dann vorteilhaft, wenn eine Mehrdeutigkeit bezüglich der vorhandenen Parklücken vorhanden ist (zum Beispiel eine erste Parklücke links und eine zweite Parklücke rechts vom Fahrzeug). Somit kann die entsprechende Ultraschallsensoreinrichtung beispielsweise durch Betätigung eines Blinkers oder einer anderen Fahrtrichtungsanzeigeeinrichtung des Fahrzeugs gezielt ausgewählt und aktiviert werden, um die entsprechende Parklücke zu vermessen. Es besteht zum Beispiel auch die Möglichkeit, dass das Fahrzeug an zwei Parklücken, die in Fahrtrichtung links und rechts vom Fahrzeug lokalisiert sind, vorbeifährt und dass während der Vorbeifahrt beide Parklücken vermessen werden und dass erst anschließend ausgewählt wird in welche der beiden Parklücken das Fahrzeug eingeparkt werden soll. Losgelöst von dem hier beschriebenen Verfahren besteht auch bei den aus dem Stand der Technik bekannten Verfahren beziehungsweise Vorrichtungen zur Ermittlung der Geometrie und Position einer Parklücke die Möglichkeit, dass eine oder mehrere Ultraschallsensoreinrichtungen durch Betätigung einer Fahrtrichtungsanzeigeeinrichtung aktiviert werden. Dies kann beispielsweise auch unter weiterer Berücksichtigung von Fahrzeugdaten, wie zum Beispiel des Lenkwinkeleinschlags oder der Fahrzeuggeschwindigkeit erfolgen.
In an advantageous embodiment, there is the possibility that can be switched by operating a direction indicator of the vehicle between a first ultrasonic sensor device which is arranged on a first longitudinal side of the vehicle and a second ultrasonic sensor device which is arranged on a second longitudinal side of the vehicle.
This embodiment is particularly advantageous when an ambiguity with respect to the existing parking spaces is present (for example, a first parking space on the left and a second parking space to the right of the vehicle). Thus, the corresponding ultrasonic sensor device can be selectively selected and activated, for example, by actuating a turn signal or another direction indicator of the vehicle, in order to measure the corresponding parking space. For example, there is also the possibility that the vehicle passes two parking spaces which are located in the direction of travel to the left and right of the vehicle, and that both parking spaces are measured while passing by and that only then is selected in which of the two parking spaces the vehicle is to be parked. Apart from the method described here, there is also the possibility in the known from the prior art methods or devices for determining the geometry and position of a parking space that one or more ultrasonic sensor devices are activated by operating a direction indicator. This can also take place, for example, with further consideration of vehicle data, such as, for example, the steering angle impact or the vehicle speed.

Gemäß Anspruch 6 zeichnet sich eine erfindungsgemäße Vorrichtung zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 5 durch folgende Merkmale aus:

  • eine erste Ultraschallsensoreinrichtung, die an einer ersten Längsseite des Fahrzeugs angebracht,
  • eine zweite Ultraschallsensoreinrichtung, die an einer zweiten Längsseite des Fahrzeugs angebracht ist,
wobei jede der Ultraschallsensoreinrichtungen eine Membran aufweist, die so ausgebildet ist, dass sie während des Betriebs der Vorrichtung wiederholt Ultraschallimpulse mit einem im Wesentlichen rechteckig ausgebildeten Detektionsbereich in einem Abstand d vom Fahrzeug erzeugen kann. Dadurch, dass nur eine einzige Ultraschallsensoreinrichtung an den Längsseiten des Fahrzeugs vorhanden ist, kann insbesondere der Aufwand für die Montage der erfindungsgemäßen Vorrichtung verringert werden. Die Membran ist in einem Sendebetriebsmodus für das Aussenden der Ultraschallimpulse vorgesehen und in einem Empfangsbetriebsmodus für den Empfang der Ultraschallimpulse, die von Objekten oder Hindernissen in Richtung auf das Fahrzeug zurückreflektiert werden.According to claim 6, a device according to the invention for carrying out a method according to one of claims 1 to 5 characterized by the following features:
  • a first ultrasonic sensor device mounted on a first longitudinal side of the vehicle,
  • a second ultrasonic sensor device mounted on a second longitudinal side of the vehicle,
wherein each of the ultrasonic sensor means comprises a diaphragm adapted to repeatedly generate ultrasonic pulses having a substantially rectangular detection range at a distance d from the vehicle during operation of the apparatus. The fact that only a single ultrasonic sensor device is present on the longitudinal sides of the vehicle, in particular the cost of mounting the device according to the invention can be reduced. The membrane is provided in a transmit mode for transmitting the ultrasonic pulses and in a Receive mode of operation for receiving the ultrasonic pulses reflected back from objects or obstacles towards the vehicle.

In einer besonders vorteilhaften Ausführungsform weist jede der Ultraschallsensoreinrichtungen mindestens eine Recheneinheit auf, die vorzugsweise in die jeweilige Ultraschallsensoreinrichtung integriert ist. Dadurch kann erreicht werden, dass die Ultraschallsensoreinrichtungen zum Beispiel aktiv von außen konfiguriert werden können. Durch diese Maßnahme können die Ultraschallsensoreinrichtungen ferner für eine signaladaptive Zieldetektion und für eine Mehrzielfähigkeit ausgelegt sein. Ferner ermöglicht die in die Ultraschallsensoreinrichtung integrierte Recheneinheit auch eine Eigendiagnose der Ultraschallsensoreinrichtungen.In a particularly advantageous embodiment, each of the ultrasound sensor devices has at least one arithmetic unit, which is preferably integrated into the respective ultrasound sensor device. It can thereby be achieved that the ultrasonic sensor devices can be actively configured, for example, from the outside. As a result of this measure, the ultrasound sensor devices can also be designed for signal-adaptive target detection and multi-target capability. Furthermore, the arithmetic unit integrated in the ultrasound sensor device also enables self-diagnosis of the ultrasound sensor devices.

In einer besonders vorteilhaften Ausführungsform ist vorgesehen, dass die Recheneinheit für den Empfang von Ultraschallimpulsen, die von einem oder mehreren Objekten zurückreflektiert werden, geeignet ist.In a particularly advantageous embodiment, it is provided that the arithmetic unit is suitable for the reception of ultrasound pulses, which are reflected back from one or more objects.

Vorzugsweise weist die Vorrichtung mindestens eine Hauptrecheneinheit auf, an der die Ultraschallsensoreinrichtungen angeschlossen sind. Die Hauptrecheneinheit kann zum Beispiel für eine Umschaltung der Ultraschallsensoreinrichtungen in verschiedene Messmodi in Bezug auf Überlagerungsmessungen, bei denen einzelne Messungen aufaddiert werden können, sowie in Bezug auf die Messzeiten eingerichtet sein. Auf diese Weise kann ein optimiertes Ergebnis bei der Vermessung der Parklücke erhalten werden. Durch diese Maßnahme können die Ultraschallsensoreinrichtungen auch für andere Anwendungen wie zum Beispiel für eine Abstandsmessung und eine Abstandswarnung während des Einparkens eingesetzt werden.Preferably, the device has at least one main computer unit to which the ultrasonic sensor devices are connected. The main computing unit may, for example, be configured to switch the ultrasonic sensor devices to different measurement modes with respect to overlay measurements in which individual measurements may be added, as well as with respect to the measurement times. In this way, an optimized result in the measurement of the parking space can be obtained. By this measure, the ultrasonic sensor devices for other applications such as for a Distance measurement and a distance warning can be used during parking.

ZEICHNUNGENDRAWINGS

Weitere Merkmale und Vorteile der vorliegenden Erfindung werden deutlich anhand der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels unter Bezugnahme auf die beiliegenden Abbildungen. Darin zeigen

Fig. 1
eine schematische Darstellung eines Fahrzeugs mit einer erfindungsgemäßen Vorrichtung zur Ermittlung der Geometrie und Position einer Parklücke während der Durchführung des Verfahrens;
Fig. 2
eine Vorderansicht des Fahrzeugs gemäß Fig. 1;
Fig. 3
eine schematisch stark vereinfachte Darstellung eines Aufbaus der erfindungsgemäßen Vorrichtung zur Ermittlung der Geometrie und Position einer Parklücke.
Further features and advantages of the present invention will become apparent from the following description of a preferred embodiment with reference to the accompanying drawings. Show in it
Fig. 1
a schematic representation of a vehicle with a device according to the invention for determining the geometry and position of a parking space during the implementation of the method;
Fig. 2
a front view of the vehicle of FIG. 1;
Fig. 3
a schematically simplified view of a structure of the device according to the invention for determining the geometry and position of a parking space.

BESCHREIBUNG DES AUSFÃœHRUNGSBEISPIELSDESCRIPTION OF THE EMBODIMENT

Unter Bezugnahme auf Fig. 1 und Fig. 2 soll nachfolgend ein Verfahren zur Ermittlung der Geometrie und Position einer Parklücke gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung näher erläutert werden. Zur Vereinfachung der Darstellung sind in Fig. 1 und Fig. 2 kartesische Koordinatensysteme eingezeichnet.With reference to FIGS. 1 and 2, a method for determining the geometry and position of a parking space according to a preferred embodiment of the present invention will be explained in more detail below. To simplify the illustration, Cartesian coordinate systems are shown in FIGS. 1 and 2.

In Fig. 1 ist ein Fahrzeug 10 während der Vorbeifahrt an einer Parklücke 11 schematisch vereinfacht dargestellt. Die Fahrtrichtung des Fahrzeugs 10 in x-Richtung ist dabei durch einen Pfeil angedeutet. Die Parklücke 11, die eine Länge L in x-Richtung und eine Tiefe T in y-Richtung besitzt, wird hierbei von zwei Fahrzeugen 12 begrenzt. Damit das Fahrzeug 10 ordnungsgemäß in die Parklücke 11 eingeparkt werden kann, muss die Parklücke 11 für das Fahrzeug 10 eine ausreichende Länge L sowie eine ausreichende Tiefe T besitzen. Ferner darf sich kein Hindernis innerhalb der Parklücke 11 befinden.In Fig. 1, a vehicle 10 is shown schematically simplified while driving past a parking space 11. The direction of travel of the vehicle 10 in the x direction is indicated by an arrow. The parking space 11, which has a length L in the x-direction and a depth T in the y-direction, is here bounded by two vehicles 12. So that the vehicle 10 can be properly parked in the parking space 11, the parking space 11 for the vehicle 10 must have a sufficient length L and a sufficient depth T. Furthermore, there must be no obstacle within the parking space 11.

Mit Hilfe des erfindungsgemäßen Verfahrens kann während der Vorbeifahrt des Fahrzeugs 10 an der Parklücke 11 die Position und die Geometrie der Parklücke 11 mit hoher Genauigkeit bestimmt werden. Das bedeutet, dass während der Durchführung des Verfahrens die Länge L, die Tiefe T, die Beschaffenheit, die relative Position der Parklücke 11 in x-Richtung und in y-Richtung sowie die Ausrichtung der Parklücke 11 relativ zum vorbeifahrenden Fahrzeug 10 bestimmt werden. Ferner kann mit Hilfe des Verfahrens erfasst werden, ob sich innerhalb der Parklücke 11 ein oder mehrere Objekte befinden. Eine gute Lokalisierung von Objekten relativ zur Position des Fahrzeugs 10 ist dabei besonders wichtig, um eine genaue Vermessung der Parklücke 11 zu ermöglichen.With the aid of the method according to the invention, the position and the geometry of the parking space 11 can be determined with high accuracy during the passage of the vehicle 10 past the parking space 11. This means that during the implementation of the method, the length L, the depth T, the nature, the relative position of the parking space 11 in the x-direction and in the y-direction and the orientation of the parking space 11 relative to the passing vehicle 10 are determined. Furthermore, it can be detected with the aid of the method, whether there are one or more objects within the parking space 11. A good location of objects relative to the position of the vehicle 10 is particularly important to allow accurate measurement of the parking space 11.

Zur Durchführung des Verfahrens weist das Fahrzeug 10 eine entsprechende Vorrichtung zur Bestimmung der Geometrie und Position einer Parklücke auf. Diese Vorrichtung, die später unter weiterer Bezugnahme auf Fig. 3 näher beschrieben werden wird, umfasst in diesem Ausführungsbeispiel eine erste und eine zweite Ultraschallsensoreinrichtung 13, 14. Die beiden Ultraschallsensoreinrichtungen 13, 14 sind für das Senden und Empfangen von Ultraschallimpulsen geeignet.To carry out the method, the vehicle 10 has a corresponding device for determining the geometry and position of a parking space. This device, which will be described in greater detail below with further reference to FIG. 3, comprises in this embodiment a first and a second ultrasonic sensor device 13, 14. The two ultrasonic sensor devices 13, 14 are suitable for transmitting and receiving ultrasonic pulses.

Man erkennt, dass in Fahrtrichtung links und rechts an jeder der beiden Längsseiten des Fahrzeugs 10 jeweils eine der beiden Ultraschallsensoreinrichtungen 13, 14 der Vorrichtung angebracht ist. Mit Hilfe der ersten Ultraschallsensoreinrichtung 13, die in Fahrtrichtung des Fahrzeugs 10 an der rechten Fahrzeuglängsseite angeordnet ist, kann die in Fig. 1 gezeigte Parklücke 11 vermessen werden. Mittels der zweiten Ultraschallsensoreinrichtung 14, die in Fahrtrichtung des Fahrzeugs 10 an der linken Fahrzeuglängsseite angeordnet ist, können in Fig. 1 nicht explizit gezeigte Parklücken vermessen werden, die sich in Fahrtrichtung links vom Fahrzeug 10 befinden. Ferner können mittels der zweiten Ultraschallsensoreinrichtung 14 Hindernisse, die sich in Fahrtrichtung links vom Fahrzeug 10 befinden, erfasst werden. Vorzugsweise sind die Ultraschallsensoreinrichtungen 13, 14 jeweils in einem seitlichen Blinker an einem der beiden vorderen Kotflügeln des Fahrzeugs 10 angeordnet. Es besteht beispielsweise auch die Möglichkeit, dass die beiden Ultraschallsensoreinrichtungen 13, 14 an einer Zierleiste oder in einem Stoßfänger des Kraftfahrzeugs 10 angeordnet sind.It can be seen that one of the two ultrasonic sensor devices 13, 14 of the device is mounted in the direction of travel on the left and right on each of the two longitudinal sides of the vehicle 10. With the aid of the first ultrasonic sensor device 13, which is arranged in the direction of travel of the vehicle 10 on the right-hand vehicle longitudinal side, the parking space 11 shown in FIG. 1 can be measured. By means of the second ultrasonic sensor device 14, which is arranged in the direction of travel of the vehicle 10 on the left vehicle longitudinal side, not explicitly shown parking spaces can be measured in Fig. 1, which are located in the direction of travel left of the vehicle 10. Furthermore, by means of the second ultrasonic sensor device 14, obstacles that are located in the direction of travel to the left of the vehicle 10 can be detected. Preferably, the ultrasonic sensor devices 13, 14 are each arranged in a side turn signal on one of the two front fenders of the vehicle 10. For example, there is also the possibility that the two ultrasonic sensor devices 13, 14 are arranged on a trim strip or in a bumper of the motor vehicle 10.

Im Gegensatz zu den aus dem Stand der Technik bekannten Verfahren und Vorrichtungen, die stets mindestens zwei Ultraschallsensoreinrichtungen pro Fahrzeuglängsseite erfordern, wird bei der vorliegenden Erfindung zur Durchführung des erfindungsgemäßen Verfahrens jeweils nur eine einzelne Ultraschallsensoreinrichtung 13, 14 pro Fahrzeuglängsseite benötigt.In contrast to the methods and devices known from the prior art, which always require at least two ultrasound sensor devices per vehicle longitudinal side, only one single ultrasound sensor device 13, 14 per vehicle longitudinal side is required in the present invention for carrying out the method according to the invention.

Damit die Position und Geometrie von Parklücken mit einer einzigen Ultraschallsensoreinrichtung 13, 14 pro Fahrzeuglängsseite mit der erforderlichen Genauigkeit bestimmt werden kann, weisen die Ultraschallsensoreinrichtungen 13, 14 im Gegensatz zu den aus dem Stand der Technik bekannten Vorrichtungen eine so genannte astigmatische Abstrahlcharakteristik auf. Das bedeutet, dass die beiden Ultraschallsensoreinrichtungen 13, 14 ausgehend von der entsprechenden Ultraschallsensoreinrichtung 13 14 Ultraschallimpulse in einem Abstrahlungsbereich 16 aussenden, der so ausgebildet ist, dass in einer Ebene senkrecht zur Hauptausbreitungsrichtung 17, welche im Wesentlichen senkrecht zur Längsachse des Fahrzeugs 10 orientiert ist, in einem Abstand d von der entsprechenden Ultraschallsensoreinrichtung 13, 14 ein im Wesentlichen rechteckig geformter sensitiver Detektionsbereich mit einer Länge L1 und einer Höhe H erhalten wird. Dabei ist im Abstand d die Höhe H des sensitiven Detektionsbereichs größer als die Länge L1. Beispielsweise kann das Verhältnis der Höhe H des sensitiven Detektionsbereichs zu dessen Länge L1 in einer Größenordnung von etwa 3:1 liegen.In order that the position and geometry of parking spaces with a single ultrasonic sensor device 13, 14 per vehicle longitudinal side can be determined with the required accuracy, the ultrasonic sensor devices 13, 14, in contrast to the devices known from the prior art on a so-called astigmatic emission. This means that, starting from the corresponding ultrasonic sensor device 13, the two ultrasonic sensor devices 13, 14 emit ultrasonic pulses in a radiation region 16 which is designed such that in a plane perpendicular to the main propagation direction 17, which is oriented substantially perpendicular to the longitudinal axis of the vehicle 10, at a distance d from the corresponding ultrasonic sensor device 13, 14 a substantially rectangular shaped sensitive detection area with a length L1 and a height H is obtained. At a distance d, the height H of the sensitive detection area is greater than the length L1. For example, the ratio of the height H of the sensitive detection area to its length L1 may be on the order of about 3: 1.

Die Ultraschallsensoreinrichtungen 13, 14 sind so ausgebildet, dass die Länge L der Parklücke 11 in x-Richtung bei im Wesentlichen konstanter Höhe H durch wiederholtes Senden und Empfangen von Ultraschallimpulsen mit einer hohen Ortsauflösung L1 vermessen werden kann, so dass der Anfang beziehungsweise das Ende der Parklücke 11 sowie Hindernisse und Objekte innerhalb der Parklücke 11 zuverlässig erfasst werden können. Die von den Ultraschallsensoreinrichtungen 13, 14 ausgesandten Ultraschallimpulse besitzen also mit anderen Worten in x-Richtung eine geringere Divergenz als in z-Richtung.The ultrasonic sensor devices 13, 14 are designed such that the length L of the parking space 11 in the x-direction at Substantially constant height H can be measured by repeated transmission and reception of ultrasonic pulses with a high spatial resolution L1, so that the beginning or the end of the parking space 11 and obstacles and objects within the parking space 11 can be reliably detected. In other words, the ultrasonic pulses emitted by the ultrasonic sensor devices 13, 14 have a smaller divergence in the x-direction than in the z-direction.

Die in Fig. 1 gezeigte Parklücke 11 wird während der Vorbeifahrt des Fahrzeugs 10 mit Hilfe der ersten Ultraschallsensoreinrichtung 13 durch einzelne, relativ schnell aufeinander folgende Einzelmessungen abgetastet. Bei jeder Einzelmessung wird ein Ultraschallimpuls in Richtung auf die Parklücke 11 ausgesandt. Trifft der Ultraschallimpuls auf ein Hindernis, wird er zumindest teilweise in Richtung auf das Fahrzeug 10 zurückreflektiert. Der zurückreflektierte Teil des Ultraschallimpulses wird von der ersten Ultraschallsensoreinrichtung 13 erfasst. Durch wiederholte Einzelmessungen mit hoher Ortsauflösung in x-Richtung kann bestimmt werden, ob die Länge L der Parklücke 11 in x-Richtung und die Tiefe T der Parklücke 11 in y-Richtung ausreichen und ob die Beschaffenheit der Parklücke derart ist, dass das Fahrzeug 10 problemlos in die vermessene Parklücke 11 eingeparkt werden kann. Die relativ geringe Divergenz der Ultraschallimpulse in x-Richtung stellt eine hohe Ortsauflösung und damit eine gute Lokalisierung eines erkannten Hindernisses, das sich innerhalb der Parklücke 11 befindet, zur Verfügung. Durch die relativ große Aufweitung der Ultraschallimpulse in der Höhe (in z-Richtung) können auch Objekte, die beispielsweise von oben oder von unten in das Sichtfeld der Ultraschallsensoreinrichtung 13, 14 hineinragen, zuverlässig detektiert werden. Durch häufiges Abtasten der Parklücke 11 können auch Hindernisse erfasst werden, die von der Seite in die Parklücke 11 hineinragen. Während der Vorbeifahrt des Fahrzeugs 10 kann ferner die Position der Parklücke 11 sowie ihre Ausrichtung relativ zum Fahrzeug 10 vermessen werden.The parking space 11 shown in FIG. 1 is scanned during the passage of the vehicle 10 by means of the first ultrasonic sensor device 13 by individual, relatively fast successive individual measurements. For each individual measurement, an ultrasonic pulse is emitted in the direction of the parking space 11. If the ultrasonic pulse encounters an obstacle, it is at least partially reflected back toward the vehicle 10. The back-reflected part of the ultrasonic pulse is detected by the first ultrasonic sensor device 13. By repeated individual measurements with high spatial resolution in the x-direction, it can be determined whether the length L of the parking space 11 in the x-direction and the depth T of the parking space 11 in the y-direction are sufficient and if the nature of the parking space is such that the vehicle 10 can be easily parked in the measured parking space 11. The relatively low divergence of the ultrasound pulses in the x-direction provides a high spatial resolution and thus a good localization of a detected obstacle, which is located within the parking space 11 available. Due to the relatively large expansion of the ultrasound pulses in height (in the z-direction), objects which project, for example, from above or from below into the field of view of the ultrasound sensor device 13, 14 can also be reliable be detected. Frequent scanning of the parking space 11 also obstacles can be detected, which protrude from the side into the parking space 11. During the passage of the vehicle 10, the position of the parking space 11 as well as its orientation relative to the vehicle 10 can also be measured.

Die während der Vermessung der Parklücke 11 gesammelten Informationen über die Geometrie und die Position der Parklücke 11 können dem Fahrer des Fahrzeugs 10 beispielsweise visuell auf einer Anzeigevorrichtung im Inneren des Fahrzeugs 10 angezeigt werden. Dadurch kann ein geführtes Einparken des Fahrzeugs 10 ermöglicht werden. Es besteht auch die Möglichkeit, dass das Einparken des Fahrzeugs 10 mit Hilfe einer hier nicht näher erläuterten Einparkhilfseinrichtung semiautonom vorgenommen wird, so dass eine Führung des Fahrzeugs 10 in Querrichtung übernommen werden kann und gegebenenfalls eine Führung des Fahrzeugs 10 in Längsrichtung mit einer Geschwindigkeitsbegrenzung vorgesehen sein kann. Es besteht ferner die Möglichkeit, dass das Fahrzeug 10 auf Grund der von der erfindungsgemäßen Vorrichtung zur Verfügung gestellten Daten mittels der Einparkhilfseinrichtung vollautomatisch in die Parklücke 11 eingeparkt werden kann.The information about the geometry and the position of the parking space 11 collected during the measurement of the parking space 11 can be visually displayed to the driver of the vehicle 10, for example, on a display device in the interior of the vehicle 10. Thereby, a guided parking of the vehicle 10 can be made possible. There is also the possibility that the parking of the vehicle 10 is carried out semiautonomously using a Einparkhilfseinrichtung not discussed here, so that a guide of the vehicle 10 can be taken in the transverse direction and optionally provided a guide of the vehicle 10 in the longitudinal direction with a speed limit can. There is also the possibility that the vehicle 10 can be parked fully automatically in the parking space 11 due to the data provided by the device according to the invention by means of Einparkhilfseinrichtung.

Dadurch, dass an jeder der beiden Längsseiten des Fahrzeugs 10 zur Durchführung des erfindungsgemäßen Verfahrens nur eine einzige Ultraschallsensoreinrichtung 13, 14 benötigt wird, kann die Integration der erfindungsgemäßen Vorrichtung in das Fahrzeug 10 vereinfacht werden. Die Verkabelung der Ultraschallsensoreinrichtungen 13, 14 kann ebenfalls relativ einfach ausgestaltet sein, so dass dadurch die Herstellungs- und Montagekosten verringert werden können.The fact that only a single ultrasonic sensor device 13, 14 is required on each of the two longitudinal sides of the vehicle 10 for carrying out the method according to the invention, the integration of the device according to the invention in the vehicle 10 can be simplified. The wiring of the ultrasonic sensor devices 13, 14 can also be designed relatively simple, so that thereby the manufacturing and assembly costs can be reduced.

In Fig. 3 ist der Aufbau einer Vorrichtung zur Ermittlung der Geometrie und Position einer Parklücke schematisch stark vereinfacht dargestellt. Die Vorrichtung weist eine Hauptrecheneinheit 20 auf, die bidirektional mit den Ultraschallsensoreinrichtungen 13, 14 verbunden ist, so dass Kommunikationsdaten sowie Messergebnisse zwischen den Ultraschallsensoreinrichtungen 13, 14 und der Hauptrecheneinheit 20 ausgetauscht werden können. Ferner ist die Hauptrecheneinheit 20 bidirektional mit dem Fahrzeug 10 verbunden, damit Daten zwischen der Hauptrecheneinheit 20 und dem Fahrzeug 10 ausgetauscht werden können.In Fig. 3, the structure of a device for determining the geometry and position of a parking space is shown schematically greatly simplified. The device has a main computer unit 20, which is bidirectionally connected to the ultrasonic sensor devices 13, 14, so that communication data and measurement results between the ultrasonic sensor devices 13, 14 and the main computer unit 20 can be exchanged. Further, the main computing unit 20 is bidirectionally connected to the vehicle 10 so that data can be exchanged between the main computing unit 20 and the vehicle 10.

Aus Vereinfachungsgründen ist in Fig. 3 nur die Anbindung einer der beiden Ultraschallsensoreinrichtungen 13, 14 an die Hauptrecheneinheit 20 gezeigt. Die andere der beiden Ultraschallsensoreinrichtung 13, 14 besitzt denselben Aufbau und ist ebenfalls bidirektional an die Hauptrecheneinheit 20 angeschlossen.For reasons of simplification, only the connection of one of the two ultrasonic sensor devices 13, 14 to the main computer unit 20 is shown in FIG. The other of the two ultrasonic sensor devices 13, 14 has the same structure and is also connected bidirectionally to the main computer unit 20.

Zur Erzeugung von Ultraschallimpulsen weisen die beiden Ultraschallsensoreinrichtungen 13, 14 eine Membran 22 auf. Mittels eines piezo-elektrischen Elements wird in einem Sendebetriebsmodus der Ultraschallsensoreinrichtungen 13, 14 über die Membran 22 ein Ultraschallimpuls generiert. Die Membran 22 ist derart ausgebildet, dass sie Ultraschallimpulse mit einem astigmatischen Abstrahlbereich 16 erzeugen kann, so dass, wie in Fig. 1 und Fig. 2 angedeutet, in einem Abstand d von der Ultraschallsensoreinrichtung 13, 14 ein im Wesentlichen rechteckig ausgebildeter Detektionsbereich mit einer Länge L1 und einer Höhe H erzeugt werden kann.To generate ultrasonic pulses, the two ultrasonic sensor devices 13, 14 have a membrane 22. By means of a piezoelectric element, an ultrasound pulse is generated in a transmit operating mode of the ultrasonic sensor devices 13, 14 via the membrane 22. The membrane 22 is designed such that it can generate ultrasonic pulses with an astigmatic emission region 16, so that, as indicated in FIGS. 1 and 2, at a distance d from the ultrasound sensor device 13, 14 a substantially rectangular detection region is formed Length L1 and height H can be generated.

Die Ultraschallsensoreinrichtungen 13, 14 weisen in diesem Ausführungsbeispiel jeweils eine eigene Recheneinheit 21 auf, die den Betrieb der Ultraschallsensoreinrichtung 13, 14 steuert. In einem Sendebetriebsmodus startet die Recheneinheit 21 die Erzeugung eines Ultraschallimpulses durch die Membran 22. Nach dem Aussenden des Ultraschallimpulses wird die Ultraschallsensoreinrichtung 13, 14 von der Recheneinheit 21 in einen Empfangsbetriebsmodus umgeschaltet. In diesem Empfangsbetriebsmodus dient die Membran 22 als Empfänger für Ultraschallimpulse, die insbesondere von den Fahrzeugen 12 sowie weiteren Hindernissen und Objekten innerhalb der Parklücke 11 in Richtung auf die jeweilige Ultraschallsensoreinrichtung 13, 14 des Fahrzeugs 10 zurückreflektiert werden.In this exemplary embodiment, the ultrasonic sensor devices 13, 14 each have their own arithmetic unit 21, which controls the operation of the ultrasound sensor device 13, 14. In a transmission operating mode, the arithmetic unit 21 starts the generation of an ultrasonic pulse through the membrane 22. After transmitting the ultrasonic pulse, the ultrasonic sensor device 13, 14 is switched by the arithmetic unit 21 into a reception operating mode. In this reception operating mode, the membrane 22 serves as a receiver for ultrasonic pulses, which are reflected back in particular by the vehicles 12 and other obstacles and objects within the parking space 11 in the direction of the respective ultrasonic sensor device 13, 14 of the vehicle 10.

Befindet sich zum Beispiel, wie in Fig. 3 angedeutet, innerhalb der Parklücke 11 ein Objekt 15, so wird der von der Membran 22 während des Sendebetriebsmodus ausgesandte Ultraschallimpuls zumindest teilweise wieder in Richtung auf die entsprechende Ultraschallsensoreinrichtung 13, 14 zurückreflektiert. Der an dem Objekt 15 reflektierte Anteil des Ultraschallimpulses trifft auf die Membran 22 und erzeugt dort mechanische Schwingungen. Durch die Membran 22 wird dann das piezoelektrische Element angeregt, das ein für die Rechnereinheit 21 der Ultraschallsensoreinrichtung 13, 14 auswertbares Signal generiert. Durch die mechanische Anregung des piezo-elektrischen Elements über die Membran 22 wird somit auf Grund des piezo-elektrischen Effekts ein Spannungssignal erzeugt, welches der Recheneinheit 21 verstärkt, gefiltert und digitalisiert zur Verfügung gestellt wird.If, for example, as indicated in FIG. 3, an object 15 is located within the parking space 11, the ultrasonic pulse emitted by the membrane 22 during the transmission operating mode is at least partially reflected back toward the corresponding ultrasonic sensor device 13, 14. The reflected at the object 15 portion of the ultrasonic pulse impinges on the membrane 22 and generates there mechanical vibrations. The piezoelectric element is then excited by the membrane 22, which generates a signal which can be evaluated by the computer unit 21 of the ultrasound sensor device 13, 14. As a result of the mechanical excitation of the piezoelectric element via the membrane 22, a voltage signal is thus generated on the basis of the piezoelectric effect which is amplified, filtered and digitized by the arithmetic unit 21.

Anschließend werden die Messsignale der Hauptrecheneinheit 20 über die bidirektionale Kommunikationsschnittstelle zur Verfügung gestellt. Die Hauptrecheneinheit 20 wertet die Ergebnisse einer Mehrzahl von Einzelmessungen, die für die Vermessung der Parklücke 11 durchgeführt werden, aus und bestimmt daraus, ob die vermessene Parklücke 11 für das Einparken des Fahrzeugs 10 geeignet ist. Ferner können in Abhängigkeit von den während der Durchführung des Verfahrens erkannten Umgebungsbedingungen und Umgebungsszenarien (zum Beispiel die Erfassung des Beginns sowie des Endes der Parklücke 11) die Ultraschallsensoreinrichtungen 13, 14 von der Hauptrecheneinheit 20 in verschiedene Messmodi in Bezug auf Überlagerungsmessungen, bei denen einzelne Messungen aufaddiert werden können, sowie in Bezug auf die Messzeiten umgeschaltet werden. Auf diese Weise kann ein optimiertes Ergebnis bei der Vermessung der Parklücke 11 erhalten werden. Dies wird insbesondere durch die im vorliegenden Ausführungsbeispiel eingesetzten, so genannten "intelligenten" Ultraschallsensoreinrichtungen 13, 14 erreicht, die jeweils eine eigene integrierte Recheneinheit 21 aufweisen. Dadurch ist es zum Beispiel in relativ einfacher Weise möglich, eine an das Messsignal optimal angepasste signaladaptive Trigger-Schwelle zu ermitteln, so dass Störsignale des empfangenen Ultraschall-Echos, wie zum Beispiel ein Rauschen, zuverlässig von Nutzsignalen getrennt werden können. In gleicher Weise kann das empfangene Signal auch für eine Eigendiagnose der Ultraschallsensoreinrichtungen 13, 14 herangezogen werden. Dadurch kann beispielsweise festgestellt werden, ob die Ultraschallsensoreinrichtungen 13, 14 verschmutzt oder defekt sind. Ultraschallsensoreinrichtungen 13, 14 mit einer integrierten Recheneinheit 21 haben ferner den Vorteil, dass sie aktiv von außen konfiguriert werden können. Ferner sind derartige Ultraschallsensoreinrichtungen 13, 14 auch mehrzielfähig.Subsequently, the measurement signals of the main computing unit 20 are provided via the bidirectional communication interface. The main computing unit 20 evaluates the results of a plurality of individual measurements that are performed for the measurement of the parking space 11, and determines whether the measured parking space 11 is suitable for parking the vehicle 10. Further, depending on the environmental conditions and environmental scenarios detected during the performance of the method (eg, the detection of the beginning and end of the parking space 11), the ultrasonic sensor devices 13, 14 may switch from the main computing unit 20 to different measurement modes with respect to overlay measurements where individual measurements can be added up, as well as switched in relation to the measuring times. In this way, an optimized result in the measurement of the parking space 11 can be obtained. This is achieved in particular by the so-called "intelligent" ultrasonic sensor devices 13, 14 used in the present exemplary embodiment, each of which has its own integrated computing unit 21. As a result, it is possible, for example, in a relatively simple manner to determine a signal-adaptive trigger threshold optimally adapted to the measurement signal, so that interference signals of the received ultrasound echo, such as noise, can be reliably separated from useful signals. In the same way, the received signal can also be used for a self-diagnosis of the ultrasonic sensor devices 13, 14. As a result, it can be determined, for example, whether the ultrasonic sensor devices 13, 14 are dirty or defective. Ultrasonic sensor devices 13, 14 with an integrated computing unit 21 also have the advantage that they can be actively configured from the outside. Further are Such ultrasonic sensor devices 13, 14 also multi-target capability.

Wie bereits oben erwähnt, werden die von den Ultraschallsensoreinrichtungen 13, 14 gemessenen und von den Recheneinheiten 21 weiterverarbeiteten Daten digital an das Hauptsteuergerät 20 geleitet, welches die Einzelmessungen und Diagnosedaten zu einer Gesamtsicht der Umgebung des Fahrzeugs 10 zusammenführt und damit interpretierbar macht. Eine gute Lokalisierung der detektierten Objekte relativ zur Position des Fahrzeugs 10 ist für eine möglichst genaue Vermessung der Parklücke 11 wichtig. Ferner werden Fahrzeugdaten, wie zum Beispiel der Lenkwinkel, die Geschwindigkeit beziehungsweise die Längsdynamik des Fahrzeugs 10 sowie die Außentemperatur erfasst und der Hauptrecheneinheit 20 zur Weiterverarbeitung zur Verfügung gestellt. Die Hauptrecheneinheit 20 kann anhand dieser Fahrzeugdaten und der von der Ultraschallsensoreinrichtung 13, 14 gemessenen Daten entscheiden, ob die Parklücke 11 für das Fahrzeug 10 geeignet ist. Dazu werden für die Parklücke 11 Länge, Tiefe, Beschaffenheit, relative Position zum Fahrzeug 10 sowie Ausrichtung zum Fahrzeug 10 erfasst. Diese Daten können zum Beispiel als Basis für ein autonomes oder semi-autonomes Einparken mittels einer Einparkhilfseinrichtung dienen und können dem Fahrzeug 10 zur weiteren Verarbeitung über die bidirektionale Kommunikationsschnittstelle, wie in Fig. 3 angedeutet, bereitgestellt werden.As already mentioned above, the data measured by the ultrasound sensor devices 13, 14 and further processed by the arithmetic units 21 are sent digitally to the main control unit 20, which combines the individual measurements and diagnostic data into an overall view of the surroundings of the vehicle 10 and thus makes them interpretable. A good localization of the detected objects relative to the position of the vehicle 10 is important for the most accurate possible measurement of the parking space 11. Furthermore, vehicle data, such as, for example, the steering angle, the speed or the longitudinal dynamics of the vehicle 10 and the outside temperature are detected and made available to the main computing unit 20 for further processing. The main computing unit 20 can use this vehicle data and the data measured by the ultrasonic sensor device 13, 14 to decide whether the parking space 11 is suitable for the vehicle 10. For the parking space 11, length, depth, condition, relative position to the vehicle 10 and alignment with the vehicle 10 are detected for this purpose. This data can serve, for example, as the basis for autonomous or semi-autonomous parking by means of a parking aid device and can be provided to the vehicle 10 for further processing via the bidirectional communication interface, as indicated in FIG. 3.

Sollte beispielsweise eine Mehrdeutigkeit bezüglich der vorhandenen Parklücken vorhanden sein (zum Beispiel eine erste Parklücke links und eine zweite Parklücke rechts vom Fahrzeug 10), so kann die entsprechende Ultraschallsensoreinrichtung 13, 14 beispielsweise durch Betätigung eines Blinkers oder einer anderen Fahrtrichtungsanzeigeeinrichtung des Fahrzeugs 10 aktiviert werden.If, for example, an ambiguity exists with regard to the existing parking spaces (for example, a first parking space on the left and a second parking space on the right of the vehicle 10), then the corresponding ultrasonic sensor device 13, 14 be activated, for example, by operating a turn signal or other direction indicator of the vehicle 10.

Claims (10)

Verfahren zur Ermittlung der Geometrie und Position einer Parklücke (11) in Bezug auf die Position eines Fahrzeugs (10), das an der Parklücke (11) vorbeifährt, dadurch gekennzeichnet, dass eine an einer Längsseite des Fahrzeugs (10) angeordnete Ultraschallsensoreinrichtung (13, 14) wiederholt Ultraschallimpulse, die in einem Abstand d vom Fahrzeug (10) einen im Wesentlichen rechteckig geformten sensitiven Detektionsbereich bilden, in Richtung auf die Parklücke (11) aussendet und dass in Abhängigkeit von den zurückreflektierten Ultraschallimpulsen die Länge und die Tiefe der Parklücke (11) bestimmt werden.Method for determining the geometry and position of a parking space (11) with respect to the position of a vehicle (10) passing the parking space (11), characterized in that an ultrasonic sensor device (13, 13) arranged on a longitudinal side of the vehicle (10) 14) repeats ultrasonic pulses which form a substantially rectangular-shaped sensitive detection area at a distance d from the vehicle (10) toward the parking space (11) and in dependence on the reflected ultrasound pulses the length and the depth of the parking space (11 ). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Ultraschallsensoreinrichtung (13, 14) Ultraschallimpulse mit einer Hauptausbreitungsrichtung, die im Wesentlichen senkrecht zur Längsrichtung des Fahrzeugs (10) orientiert ist, aussenden.A method according to claim 1, characterized in that the ultrasonic sensor device (13, 14) emit ultrasonic pulses having a main propagation direction, which is oriented substantially perpendicular to the longitudinal direction of the vehicle (10). Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Ultraschallsensoreinrichtung (13, 14) Ultraschallimpulse aussendet, deren Detektionsbereich im Abstand d vom Fahrzeug (10) eine Höhe H aufweist, die größer, vorzugsweise wesentlich größer, ist als dessen Länge L1.A method according to claim 1 or 2, characterized in that the ultrasonic sensor device (13, 14) emits ultrasonic pulses whose detection range at a distance d from the vehicle (10) has a height H which is greater, preferably substantially greater, than its length L1. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Auswertung der empfangenen Ultraschallsignale von einer Recheneinheit (21) der Ultraschallsensoreinrichtung (13, 14) adaptiv angepasst wird.Method according to one of claims 1 to 3, characterized in that the evaluation of the received ultrasonic signals from a computing unit (21) of the ultrasonic sensor device (13, 14) is adaptively adjusted. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass durch eine Betätigung einer Fahrtrichtungsanzeigeeinrichtung des Fahrzeugs (10) zwischen einer ersten Ultraschallsensoreinrichtung (13), die an einer ersten Längsseite des Fahrzeugs (10) angeordnet ist, und einer zweiten Ultraschallsensoreinrichtung (14), die an einer zweiten Längsseite des Fahrzeugs angeordnet ist, umgeschaltet werden kannMethod according to one of claims 1 to 4, characterized in that by actuating a direction indicator of the vehicle (10) between a first ultrasonic sensor device (13) which is arranged on a first longitudinal side of the vehicle (10), and a second ultrasonic sensor device (14 ), which is arranged on a second longitudinal side of the vehicle, can be switched Vorrichtung zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 5, umfassend: - eine erste Ultraschallsensoreinrichtung (13), die an einer ersten Längsseite des Fahrzeugs (10) angebracht ist; - eine zweite Ultraschallsensoreinrichtung (14), die an einer zweiten Längsseite des Fahrzeugs (10) angebracht ist, dadurch gekennzeichnet, dass jede der Ultraschallsensoreinrichtungen (13, 14) eine Membran (22) aufweist, die so ausgebildet ist, dass sie während des Betriebs der Vorrichtung wiederholt Ultraschallimpulse mit einem im Wesentlichen rechteckig ausgebildeten Detektionbereich in einem Abstand d vom Fahrzeug (10) erzeugen kann.Apparatus for carrying out a method according to any one of claims 1 to 5, comprising: - A first ultrasonic sensor device (13) which is mounted on a first longitudinal side of the vehicle (10); a second ultrasonic sensor device (14) which is attached to a second longitudinal side of the vehicle (10), characterized in that each of the ultrasonic sensor means (13, 14) comprises a diaphragm (22) adapted to repeatedly generate ultrasonic pulses having a substantially rectangular detection area at a distance d from the vehicle (10) during operation of the apparatus can. Vorrichtung nach einem der Ansprüche 6, dadurch gekennzeichnet, dass jede der Ultraschallsensoreinrichtungen (13, 14) mindestens eine Recheneinheit (21) aufweist.Device according to one of claims 6, characterized in that each of the ultrasonic sensor devices (13, 14) has at least one computing unit (21). Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Recheneinheit (21) für den Empfang von Ultraschallimpulsen, die während des Betriebs der Vorrichtung von einem oder mehreren Objekten (15) zurückreflektiert werden, geeignet ist.Apparatus according to claim 7, characterized in that the arithmetic unit (21) for the reception of ultrasonic pulses, which are reflected back during operation of the device of one or more objects (15) is suitable. Vorrichtung nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass die Vorrichtung mindestens eine Hauptrecheneinheit (20) aufweist, an der die Ultraschallsensoreinrichtungen (13, 14) angeschlossen sind.Device according to one of claims 6 to 8, characterized in that the device comprises at least one main processing unit (20) to which the ultrasonic sensor means (13, 14) are connected. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass die Hauptrecheneinheit (20) für eine Umschaltung der Ultraschallsensoreinrichtungen (13, 14) in verschiedene Messmodi in Bezug auf Überlagerungsmessungen, bei denen einzelne Messungen aufaddiert werden können, sowie in Bezug auf die Messzeiten eingerichtet ist.Apparatus according to claim 9, characterized in that the main computing unit (20) is adapted for switching the ultrasonic sensor means (13, 14) in different measurement modes with respect to overlay measurements in which individual measurements can be added, as well as with respect to the measurement times.
EP06120070A 2005-09-09 2006-09-04 Method and device for determining the geometry and position of a parking place Active EP1762861B1 (en)

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